CN111060129A - Method for judging carpet by intelligent robot - Google Patents
Method for judging carpet by intelligent robot Download PDFInfo
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- CN111060129A CN111060129A CN201811218220.6A CN201811218220A CN111060129A CN 111060129 A CN111060129 A CN 111060129A CN 201811218220 A CN201811218220 A CN 201811218220A CN 111060129 A CN111060129 A CN 111060129A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000010408 sweeping Methods 0.000 claims abstract description 10
- 230000010355 oscillation Effects 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims 4
- 238000004140 cleaning Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
Abstract
The invention discloses a method for judging a carpet by an intelligent robot, and belongs to the technical field of intelligent robots. The method uses the difference between the IMU course angle accumulated value and the accumulated angle value of the wheel encoder odometer or the z-axis information of the accelerometer to judge whether the sweeping robot is positioned on the carpet. And judging whether the intelligent robot is positioned on the carpet or not by using the difference between the IMU course angle accumulated value and the accumulated angle value of the wheel encoder odometer and the z-axis information of the accelerometer. The invention utilizes the existing sensor without adding other sensors; the characteristics of the sensor and the carpet are skillfully utilized, and a reasonable algorithm is added, so that the carpet can be effectively detected.
Description
Technical Field
The invention relates to a method for judging a carpet by an intelligent robot, and belongs to the technical field of intelligent robots.
Background
In carpet inspection schemes in the field of intelligent robotics, auxiliary sensors are often used to detect, such as ultrasonic, infrared, light sensors, and speed sensors. The use of these sensors can solve most of the problems, but these solutions employ the measure of adding sensors, resulting in increased costs, and the requirements for light, material and reflectivity due to the conditions in which the sensors are used may fail in some cases. The invention utilizes the existing sensors, does not increase the sensors, utilizes the characteristics of the sensors and the carpet, and uses a reasonable algorithm to effectively detect the carpet.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method for judging a carpet of an intelligent robot, which utilizes the existing sensors and uses a reasonable algorithm to effectively detect the carpet.
A method for judging a carpet of an intelligent robot judges whether a sweeping robot is positioned on the carpet or not by using the difference between an IMU course angle accumulated value and an accumulated angle value of a wheel encoder odometer or the z-axis information of an accelerometer.
In one embodiment of the invention, whether the intelligent robot is positioned on the carpet is judged by using the difference between the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer.
The invention relates to a method for judging a carpet by an intelligent robot, which also comprises the step of judging whether the intelligent robot is positioned on the carpet by using the difference between the accumulated IMU course angle value and the accumulated angle value of a wheel encoder odometer and the z-axis information of an accelerometer.
In one embodiment of the invention, the intelligent robot monitors z-axis information of an accelerometer in real time in the walking process, when the z-axis information of the accelerometer changes, the intelligent robot stops walking, rotates any angle to monitor the surrounding environment, acquires an accumulated IMU course angle value and an accumulated angle value of a wheel encoder odometer after rotation, judges whether the intelligent robot is positioned on a carpet or not by judging the difference between the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer, judges that the intelligent robot enters the carpet when the difference between the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer exceeds a threshold value, and judges that the intelligent robot enters the floor when the difference between the accumulated IMU course angle value and the angle value of the wheel encoder odometer is smaller than or equal to the threshold value.
In one embodiment of the invention, the rotation is any angle of rotation from 90 ° to 360 °, preferably 180 ° and 360 °; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
In one embodiment of the invention, the z-axis information of the accelerometer is used for judging whether the sweeping robot is positioned on the carpet or not, and the intelligent robot is characterized in that the sweeping robot monitors the z-axis information of the accelerometer in real time in the walking process and judges the working state of the intelligent robot according to the oscillation intensity of the z-axis of the accelerometer.
In one embodiment of the present invention, a floor state is judged as a floor state when the oscillation intensity is greater than 0.2, a carpet state is judged as a carpet state when the oscillation intensity is less than or equal to 0.2 and greater than 0.01, and a still state is judged when the oscillation intensity is less than or equal to 0.01.
In an embodiment of the present invention, the oscillation intensity of the z-axis of the accelerometer is calculated by taking the z-axis acceleration data as x, taking the variable value of x on the time axis according to a fixed sampling interval, and calculating the intensity value of each sampling time point in real time, according to the following steps:
s1: data preprocessing, calculating the average value of data in a period of time adjacent to the sampling time point
Computing
As a preprocessed data value, eliminating the influence of the dimension and the trend item;
s2: judging whether the preprocessed data values of all sampling time points are maximum or minimum values in the adjacent period of time, if so, taking an absolute value of the values, otherwise, setting the value as 0;
s3: calculating the average value of the non-0 data of each sampling time point in the adjacent period of time as the final oscillation intensity value of the position;
in one embodiment of the invention, said adjacent period of time is within 1-5s, preferably within 1 s.
The invention has the beneficial effects that:
1. the carpet detection method provided by the invention utilizes the existing sensor without adding other sensors;
2. the carpet detection method provided by the invention skillfully utilizes the characteristics of the sensor and the carpet, and a reasonable algorithm can effectively detect the carpet.
3. The carpet judgment method adopts the algorithm to replace the addition of other sensors for judging the carpet, is simple, has high operation speed, and does not increase the processing load of hardware.
Drawings
FIG. 1 is a diagram illustrating a difference between an IMU calculated angle and an encoder calculated angle according to an embodiment of the present invention
In the figure: the solid line is the IMU angle, the dotted line is the encoder angle, and the ellipse marks are the angular difference after one rotation.
FIG. 2 is a flowchart of an algorithm according to an embodiment of the present invention
FIG. 3 is a flowchart of the algorithm of embodiments 1-3 of the present invention
FIG. 4 is a flowchart of the algorithm of embodiment 5 of the present invention
Detailed Description
Example 1
A method for judging carpet by intelligent robot includes judging whether intelligent robot is on carpet by using difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer, monitoring ambient environment by rotating any angle when intelligent robot starts to work from still, obtaining accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer after rotation, judging whether difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value or not, judging whether intelligent robot is on carpet when difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value.
The rotation angle is 90 degrees; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
Example 2
A method for judging carpet by intelligent robot includes judging whether intelligent robot is on carpet by using difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer, monitoring ambient environment by rotating any angle when intelligent robot starts to work from still, obtaining accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer after rotation, judging whether difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value or not, judging whether intelligent robot is on carpet when difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value.
The rotation angle is 180 degrees; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
Example 3
A method for judging carpet by intelligent robot includes judging whether intelligent robot is on carpet by using difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer, monitoring ambient environment by rotating any angle when intelligent robot starts to work from still, obtaining accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer after rotation, judging whether difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value or not, judging whether intelligent robot is on carpet when difference between accumulated value of course angle of IMU and accumulated angle value of wheel encoder odometer is over threshold value.
The arbitrary rotation angle is 360 degrees; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
Example 4
The method for judging the carpet by the intelligent robot is characterized by further comprising the step of judging whether the intelligent robot is located on the carpet or not by using the difference between the IMU course angle accumulated value and the accumulated angle value of the wheel encoder odometer and the z-axis information of the accelerometer. The intelligent robot comprises an intelligent robot body, a wheel encoder odometer, an intelligent robot body, a carpet, a wheel encoder odometer, an intelligent robot body and an intelligent robot controller, wherein the intelligent robot body is used for monitoring z-axis information of an accelerometer in real time in the walking process, when the z-axis information of the accelerometer changes, the intelligent robot body stops walking, rotates any angle to monitor the surrounding environment, after rotation, the integrated value of an IMU course angle and the integrated angle value of the wheel encoder odometer are obtained, whether the intelligent robot body is located on the carpet is judged according to the difference between the integrated value of the IMU course angle and the integrated angle value of the wheel encoder odometer, when the difference between the integrated value of the IMU course angle and the integrated angle value of the wheel encoder odometer exceeds a threshold value, the intelligent robot body is judged to enter the carpet. The rotation angle is 90-360 degrees, preferably 180 degrees and 360 degrees; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
Example 5
The method for judging the carpet by the intelligent robot is characterized in that the z-axis information of the accelerometer is monitored in real time in the walking process of the sweeping robot, and the working state of the intelligent robot is judged according to the oscillation intensity of the z-axis of the accelerometer. The floor state is judged as the oscillation intensity of more than 0.2, the carpet state is judged as the oscillation intensity of less than or equal to 0.2 but more than 0.01, and the carpet state is judged as the static state if less than or equal to 0.01.
The oscillation intensity of the z axis of the accelerometer is calculated in the following way, the z axis acceleration data is made to be x, the variable value of the x is taken on the time axis according to a fixed sampling interval, the intensity value of each sampling time point is calculated in real time, and the method comprises the following steps:
s1: data preprocessing, calculating the adjacent time of the sampling time pointMean of data of
Computing
As a preprocessed data value, eliminating the influence of the dimension and the trend item;
s2: judging whether the preprocessed data values of all sampling time points are maximum or minimum values in the adjacent period of time, if so, taking an absolute value of the values, otherwise, setting the value as 0;
s3: calculating the average value of the non-0 data of each sampling time point in the adjacent period of time as the final oscillation intensity value of the position;
said adjacent period of time means within 1-5s, preferably within 1 s.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The method for judging the carpet by the intelligent robot is characterized in that whether the floor sweeping robot is positioned on the carpet or not is judged by using the difference between the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer or the z-axis information of the accelerometer.
2. The method as claimed in claim 1, wherein the difference between the accumulated IMU heading angle and the accumulated angular value of the wheel encoder odometer is used to determine whether the intelligent robot is on the carpet, wherein when the intelligent robot starts to work from a standstill, the intelligent robot first rotates any angle to monitor the surrounding environment, acquires the accumulated IMU heading angle and the accumulated angular value of the wheel encoder odometer after the rotation, determines whether the difference between the accumulated IMU heading angle and the accumulated angular value of the wheel encoder odometer exceeds a threshold, and determines that the intelligent robot is on the carpet when the difference between the accumulated IMU heading angle and the accumulated angular value of the wheel encoder odometer exceeds the threshold.
3. The method of claim 1, further comprising determining whether the intelligent robot is on the carpet using a difference between the IMU heading angle cumulative value and a wheel encoder odometer cumulative angle value and the accelerometer z-axis information.
4. The method for judging the carpet by the intelligent robot according to claim 3, wherein the intelligent robot, during walking, monitoring the z-axis information of the accelerometer in real time, and when the z-axis information of the accelerometer changes, the intelligent robot stops walking, rotates any angle to monitor the surrounding environment, acquires the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer after rotation, judges the difference between the accumulated IMU course angle value and the accumulated angle value of the wheel encoder odometer to judge whether the intelligent robot is positioned on the carpet or not, when the difference between the IMU heading angle cumulative value and the wheel encoder odometer cumulative angle value exceeds a threshold value, and judging that the intelligent robot enters the carpet, and judging that the intelligent robot enters the floor when the difference between the IMU course angle accumulated value and the angle value of the wheel encoder odometer is less than or equal to a threshold value.
5. A method for judging carpet by an intelligent robot according to claim 2 or 4, characterized in that the arbitrary angle of rotation is 90 ° -360 °, preferably 180 ° and 360 °; the threshold value is 5 degrees, more than 5 degrees is judged as being on the carpet, and less than or equal to 5 degrees is judged as being on the floor.
6. The method for judging the carpet of claim 1, wherein the z-axis information of the accelerometer is used for judging whether the sweeping robot is located on the carpet, and the method is characterized in that the sweeping robot monitors the z-axis information of the accelerometer in real time during walking, and judges the working state of the intelligent robot according to the oscillation intensity of the z-axis of the accelerometer.
7. The method as claimed in claim 6, wherein the oscillation intensity is greater than 0.2, less than or equal to 0.2 but greater than 0.01 is determined as the floor state, and less than or equal to 0.01 is determined as the carpet state, and is determined as the still state.
8. The method for judging the carpet of claim 6 or 7, wherein the oscillation intensity of the z-axis of the accelerometer is calculated by taking the z-axis acceleration data as x, taking the variable value of x on the time axis according to a fixed sampling interval, and calculating the intensity value of each sampling time point in real time according to the following steps:
s1: data preprocessing, calculating the average value of data in a period of time adjacent to the sampling time point
Computing
As a preprocessed data value, eliminating the influence of the dimension and the trend item;
s2: judging whether the preprocessed data values of all sampling time points are maximum or minimum values in the adjacent period of time, if so, taking an absolute value of the values, otherwise, setting the value as 0;
s3: and calculating the average value of the non-0 data of each sampling time point in the adjacent period of time as the final oscillation intensity value of the position.
9. The method for judging the carpet by the intelligent floor sweeping robot according to claim 8, wherein the adjacent period of time is within 1-5s, preferably within 1 s.
10. Use of a method for determining a carpet by an intelligent robot as claimed in any of claims 1 to 9 on a cleaning, sweeping robot or any autonomous mobile device.
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| CN201811218220.6A CN111060129A (en) | 2018-10-17 | 2018-10-17 | Method for judging carpet by intelligent robot |
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| CN201811218220.6A CN111060129A (en) | 2018-10-17 | 2018-10-17 | Method for judging carpet by intelligent robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111443033A (en) * | 2020-04-26 | 2020-07-24 | 武汉理工大学 | Floor sweeping robot carpet detection method |
| CN112603204A (en) * | 2020-12-11 | 2021-04-06 | 深圳市银星智能科技股份有限公司 | Method, device and equipment for track compensation and storage medium |
| WO2023284396A1 (en) * | 2021-07-16 | 2023-01-19 | 速感科技（北京）有限公司 | Ground material recognition method, control method, apparatus, and storage medium |
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